EP3165945B1 - Appareil de mesure de surface destiné à déterminer des coordonnées 3d d'une surface - Google Patents

Appareil de mesure de surface destiné à déterminer des coordonnées 3d d'une surface Download PDF

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Publication number
EP3165945B1
EP3165945B1 EP15192815.7A EP15192815A EP3165945B1 EP 3165945 B1 EP3165945 B1 EP 3165945B1 EP 15192815 A EP15192815 A EP 15192815A EP 3165945 B1 EP3165945 B1 EP 3165945B1
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EP
European Patent Office
Prior art keywords
user
unit
scanning
aerial vehicle
measurement
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EP15192815.7A
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German (de)
English (en)
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EP3165945A1 (fr
Inventor
Jürgen Dold
Thomas Harring
Burkhard Böckem
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Leica Geosystems AG
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Leica Geosystems AG
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Priority to EP15192815.7A priority Critical patent/EP3165945B1/fr
Priority to CN201610952499.5A priority patent/CN106979773B/zh
Priority to US15/342,108 priority patent/US10520310B2/en
Publication of EP3165945A1 publication Critical patent/EP3165945A1/fr
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Publication of EP3165945B1 publication Critical patent/EP3165945B1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G01C15/006—Detectors therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/40—Balloons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/30—Lighter-than-air aircraft, e.g. aerostatic aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0866—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted to captive aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/60—Tethered aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B64U2201/202—Remote controls using tethers for connecting to ground station
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics

Definitions

  • the invention relates to a surveying device with a scanning unit for determining a plurality of 3D coordinates of measuring points of a surface according to the preamble of claim 1, a method for determining 3D coordinates according to claim 12 and an unmanned, hovering aircraft for use as a carrier of a scanning unit according to claim 1 according to claim 14.
  • Surveying devices for recording, for example for the purpose of measuring, testing or documenting, topographies of an object to be measured, for example a building or terrain, are known, for example, as scanners or profilers.
  • scanners or profilers For example, in the PCT/EP2008/009010 describes a device that can measure distances quickly and dynamically with a moving measuring beam. Applications are simple rotation scanners or profilers with alignment to the plumb line.
  • a measuring device for the three-dimensional measurement of an object records the spatial position of a surface point of the object, ie its 3D coordinates, by remitting emitted laser radiation from the object surface in a diffusely scattered manner and measuring the distance to the targeted surface point using remitted laser radiation.
  • the measuring device has a scanning unit with a laser beam source, a deflection device for pivoting the laser radiation, detection means for detecting the remitted laser radiation and a detector or distance meter.
  • This distance measurement is linked to the angle or direction information of the laser emission, so that the spatial position of the detected point is determined from this distance and angle information
  • Surface of the object can be continuously measured.
  • Such surface measurement devices according to the prior art enable a user to capture large surfaces and objects with a relatively short expenditure of time - depending on a desired point-to-point resolution - and, if necessary, with additional object information, with target points at a very high rate, for example several hundred thousand points per second. The distances to a large number of points can be recorded in a short time depending on the respective scanning angle.
  • a 3D point cloud can be generated which represents the three-dimensional nature of the object surface using a set of points with defined point positions in a common coordinate system.
  • the point-to-point resolution of the captured object points and the resulting point cloud is determined by the speed at which the laser beam is swept across the surface and the sampling rate. For laser scanners, for example, the resolution is 1.0 mm over a 100m measuring distance.
  • WO 97/40342 describes a method that records a topography using stationary surveying devices.
  • a fixed installation point is chosen for these devices, which serves as the basis for a scanning process or scanning process caused by motors, so that the recording or scanning location (as the position of the scanning unit relative to the scanned object) remains unchanged during scanning.
  • the three-dimensional location information of the respective surface point is about the distance to the measured point, the angular position at the time of measurement and the known location of the device can be derived.
  • the scanner or profiler systems in particular their distance meters, are specifically designed for the task of topography detection and scan a surface by moving the scanning unit or by changing the beam path in one axis (profiler) or two axes (scanner).
  • the PCT/EP2014/059138 discloses a mobile profiler which has a scanning unit on a surveying rod (pole rod) that can be carried or moved by a user as a carrier.
  • the scanning unit has a laser, the laser beam generated being rotatable about an axis, so that a laser plane is spanned, the line of intersection of which with the surface to be measured results in the measurement profile from a large number of measuring points.
  • a GNSS receiver is also attached to the survey rod to determine the position of the survey device.
  • the surveying device has a camera module, which is also carried by the surveying rod and optionally has an inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the position and orientation of the surveying rod or, through the fixed relative position of the units to one another, the position and orientation, for example of the scanning unit, are determined.
  • a point cloud can be generated which represents the surface of the object to be measured.
  • the advantage of a mobile or portable surface measuring device is that that the recording location can be easily changed and therefore, for example, very extensive or elongated surfaces can be measured.
  • Disadvantageous to that in the PCT/EP2014/059138 disclosed device is that carrying such a device is cumbersome for the user and the pole is unwieldy, and this is all the more the longer the surveying pole is.
  • the scanning unit could be positioned as high as possible or far above the ground level.
  • the US 2014/0267627 A1 discloses a 3D scanner for detecting the condition of a structure, for example a house roof, wherein the 3D scanner is arranged on an aircraft which is attached to a base station by means of a line.
  • the US 2014/0259549 A1 discloses a remotely controlled flying scanning device which is connected to a ground support by means of a tether, with eyelets being used to further guide the tether.
  • the EP 2 811 318 A1 discloses a gesture-controlled scanning unit.
  • a further object of the present invention is to provide a mobile surface surveying device, preferably a 3D scanner or profiler, with improved handling by a user.
  • Another object of the present invention is to provide a mobile surface surveying device, preferably a 3D scanner or profiler, with improved positionability.
  • the subject of the invention is a surface measuring device, preferably designed as a 3D scanner or Profiler for determining a large number of 3D coordinates of measuring points on a surface.
  • the surface measurement device is designed to generate a 3D point cloud representing the surface based on the 3D coordinates.
  • the surface measuring device has a scanning unit for optically scanning the surface.
  • the scanning unit has a transmitting unit for emitting optical, coherent and collimated measuring radiation, preferably laser radiation, a deflection device for scanning the measuring radiation over the surface in at least one deflection direction, means for detecting the respective relative deflection direction and a detector for detecting the reflected from a respective measuring point measurement radiation.
  • the relative deflection direction is understood to mean the deflection direction in which the measuring radiation is emitted by the guide of the deflection device in relation to the scanning unit or to a reference direction, for example a zero direction, which relates to the surface measuring device.
  • the surface measuring device has means for determining a position and orientation of the scanning unit and a control and evaluation unit with a surface measuring functionality for controlling the scanning unit and for determining the 3D coordinates of the measuring points based on the respective deflection direction and a distance value derived by means of detected measuring radiation.
  • the distance is a distance from the surface measuring device or the scanning unit to the surface or, more precisely, to the respective measuring point on the surface.
  • the surface measuring device has a carrier for carrying the scanning unit and at least part of the means for determining a position and orientation.
  • the carrier is designed as a floating unmanned aircraft with a line which is connected to the aircraft at one end and can be held by a user at the other end.
  • the line is intended for the user to guide the aircraft in the air and the positioning of the aircraft in the air is predetermined by the effective length of the line, which can preferably be changed by the user.
  • the orientation of the aircraft is also specified by means of the line.
  • the effective length of the line is to be understood as the length that the line takes up between the aircraft and its user stopping point.
  • the full length of the leash can correspond to this, but is greater in the case of an adjustable effective length, so that, for example, a piece of the leash can be rolled up by the user to reduce the effective length.
  • the length of the line is, for example, around one to a few meters, especially for surveying devices intended for indoor use, up to several tens of meters for outdoor measurements, although line lengths of up to around 80m-100m are also conceivable.
  • part of the surface surveying device is carried by a hovering aircraft, especially the scanning unit, so that the scanning unit can be positioned in the air, the positioning of the aircraft and thus the scanning unit, including its height above the ground level or above the location of the
  • the user is specified by the leash.
  • the aircraft can be guided by the user using the leash, so that the scanning unit can be moved by the user through the air to a desired location in the air, for example by the user Floor projection of the desired location or its proximity and holds or pulls the line.
  • the line therefore serves as the primary or primary element with which the user controls the aircraft, at least in terms of translation.
  • the leash is also electrically conductive.
  • it serves as a power cable to supply energy to parts of the surface surveying device that are in the air, especially the aircraft (especially if it is motor-driven) and/or the scanning unit.
  • the electrical conductivity of the guide line is used for control and/or data signal transmission, so that the line serves as a data or signal cable from and/or to airborne parts of the surface surveying device.
  • Control signals can be transmitted from the user to the aircraft and the scanning unit and/or data, especially measurement data such as the detected deflection direction or distance values or the 3D coordinates, are transmitted from the scanning unit to a user unit.
  • the user unit is part of the surveying device and is designed, for example, as a hand-held field controller, which is preferably connected to the line that serves as a cable or alternatively communicates wirelessly with other units of the surveying device.
  • the line serves as a cable or alternatively communicates wirelessly with other units of the surveying device.
  • it is an external user device such as a smartphone or tablet.
  • the surface measurement device preferably the line, has an interface (wired such as USB or wireless such as Bluetooth) for connecting the external user unit.
  • the means for determining a position and orientation are designed accordingly to derive or determine the six degrees of freedom of the carrier or the scanning unit.
  • the means for determining the position and orientation are designed for, preferably continuous, active determination of the position and orientation to obtain position and orientation values as storable data, so that these are permanent and in particular after completion the measurement is present and translational and/or rotational accelerations or position and/or orientation changes of the scanning unit (or the measurement object) are measured and the measured accelerations are measured when determining the 3D coordinates of the object or surface are taken into account.
  • the means are designed for the continuous passive determination of the position and orientation for the purpose of flight stabilization of the aircraft.
  • the position and orientation values can be treated as volatile, non-permanent data that can be used instantaneously to optimize the flight behavior of the aircraft and then discarded.
  • the means for determining the position and orientation have sensors on the carrier side for continuously measuring an acceleration and/or rotation rate and/or magnetic alignment.
  • the means have a 3-axis acceleration sensor, a 3-axis gyroscope, inclination sensors or an Inertial Measurement Unit (IMU).
  • the means have at least one camera for continuously recording images of a series of images as part of a camera-based self-localization and/or receiver for continuously receiving position reference signals, in particular GNSS signals and/or pseudolite signals.
  • control and evaluation unit is designed to execute an algorithm, preferably a state estimation algorithm, which is in particular based on a Kalman filter, for the continuous calculation of the position and orientation based on both the continuously determined data from the sensors (i.e. e.g their measured acceleration values) as well as those of the camera and/or signal receiver, the calculation preferably taking place in real time.
  • an algorithm preferably a state estimation algorithm, which is in particular based on a Kalman filter, for the continuous calculation of the position and orientation based on both the continuously determined data from the sensors (i.e. e.g their measured acceleration values) as well as those of the camera and/or signal receiver, the calculation preferably taking place in real time.
  • the algorithm which the control and evaluation unit is designed to execute, is designed to determine the position and orientation of images of the image series based on a backward cut using surface points that are in at least two images of the image series are captured.
  • the algorithm preferably has structure-from-motion (SfM) or SLAM algorithms, or such routines are part of the algorithm.
  • the surface points for backcutting are selected using feature extraction algorithms and/or tracking algorithms.
  • the aircraft is passive, i.e. without any drive or control means.
  • the aircraft is preferably designed as a balloon that is filled with helium, for example.
  • the advantage of such embodiments is, above all, simple construction and low energy consumption, and thus low manufacturing, operating and maintenance costs.
  • the aircraft has at least one drive means (motor or rotor) and/or control means, for example rudder or rotor, for actively adjusting the position and/or orientation predetermined by the effective length of the line.
  • drive means for example rudder or rotor
  • control means for example rudder or rotor
  • Such an active aircraft is preferably designed as a zeppelin or airship, ie an aircraft in which the lift is at least partially achieved by a gas filling, or as a copter, ie an aircraft in which the lift is generated by rotors.
  • the present invention features an active aircraft as a carrier Other advantages.
  • the advantage is that handling or guidance is simplified and safer is so that even users inexperienced with flight controls can handle the measuring device and use, for example, indoors, especially in relatively small or angled rooms with a high risk of collision, is better or even possible.
  • an active aircraft Compared to embodiments with a passive aircraft, it is advantageous that such an active aircraft, depending on the design, enables active adjustment of the positioning and/or alignment, which is understood to mean, for example, an alignment of the scanning unit with the surface to be measured, so that, for example, a homogeneous or less irregular Distribution of the measurement points or the points of the 3D point cloud is achieved.
  • this makes it possible, for example, to align or position the scanning plane in an optimized manner, so that, for example, means for internal alignment correction of the scanning unit, such as those provided PCT/EP2014/059138 revealed, are unnecessary.
  • Such means can be provided optionally, especially in a purely passive aircraft.
  • the location of the aircraft and thus of the scanning unit can advantageously be changed on a small scale, i.e. the micro-position is adapted, for example in order to avoid visual obstacles or to make areas visible or accessible to the measuring radiation and thus to scanning to make the positioning exclusively with the Line (as is only possible with a completely passive aircraft) cannot be measured.
  • the micro-position is adapted, for example in order to avoid visual obstacles or to make areas visible or accessible to the measuring radiation and thus to scanning to make the positioning exclusively with the Line (as is only possible with a completely passive aircraft) cannot be measured.
  • hard-to-reach corners of a building or cave-like small rooms can be measured.
  • the active adjustment of the positioning and/or alignment is optionally carried out using control commands from the user, with the control commands preferably being issued by means of a user unit, in particular a smartphone or a tablet.
  • the control commands are optionally entered via multi-touch inputs and/or by moving the user unit on a touch-sensitive user field of the user unit.
  • the user unit has, for example, a control stick or a control pad.
  • the control of the aircraft and also the scanning unit is carried out by the user without contact using gestures, for which purpose the control and evaluation unit has a gesture control functionality, so that recorded movement images of the user's hand movements can be interpreted as control commands and corresponding control commands can be output to the aircraft and the scanning unit .
  • a camera is arranged on the carrier, for example on the underside of the aircraft, which is aligned in the direction of the user or user's hand and continuously captures images of the hand, so that, for example, a quick hand movement in one direction serves as a command to move the aircraft through its drive can be recognized in this direction.
  • the user's hand can have an aid, for example a carrier of optical markings.
  • control is carried out by the user in that the connection of the line to the aircraft is designed as a control module, as follows that through a user-controlled change in a state of the line, in particular the applied tension and/or direction of pull, a control command is sent from the user to the aircraft, preferably for actively changing the positioning and/or orientation, and to the scanning unit, in particular for take-off and/or or ending a scanning process, can be output.
  • the active adjustment of the positioning and/or alignment is carried out alternatively or additionally using routines programmed into the control and evaluation unit for the semi-autonomous movement of the aircraft (semi-autonomous in the sense that the movement is always carried out within the framework of the directional position specification by the line).
  • Such routines include, for example, movement along a predefined track, for example adapted to the type of object to be measured.
  • the aircraft can be rotated independently by approximately 360° around the vertical axis, preferably in embodiments designed as a profiler.
  • a positioning and/or alignment adjustment is additionally or alternatively carried out using control commands from the control and evaluation unit, which are based on current measured values, in particular acceleration and/or distance values, from sensors of the aircraft.
  • the control and evaluation unit is then designed for automatic adjustment, which takes place reactively to detected sensor values, for example distance values or inclination values. For example, the distance to a measurement surface is automatically adjusted to optimize measurement acquisition or collisions with obstacles or the measurement object are avoided.
  • the raw data of the measurement (3D coordinates or the deflection direction values and distance values on which they are based or the immediate detector values on which the deflection direction values and distance values are based) are sent via the line as a data cable (or alternatively wirelessly via Bluetooth, WLAN or similar). sent to the user unit and this raw data is evaluated by the user unit.
  • This data transfer is preferably carried out “on the fly”, i.e. on site or during the measurement process.
  • the evaluation optionally includes the generation of a 3D point cloud based on the 3D coordinates, with the point cloud being displayed graphically on a display of the user unit.
  • the user can, for example, directly carry out an initial assessment of the measurement and, for example, to carry out additional surface measurements of surface areas that turn out to be highly relevant or were measured incorrectly (although the measurement results do not necessarily have to be available as a 3D point cloud, but rather in table form, for example). can be issued).
  • an evaluation or evaluation is carried out on site semi- or fully automatically by the control and evaluation unit.
  • the surface measurement functionality is additionally designed in such a way that regions of interest (ROI) are recognized in the set of 3D coordinates or the corresponding 3D point cloud, which are automatically identified as particularly interesting, error-prone or incomplete (e.g.
  • ROI regions of interest
  • the result of such recognition or assessment is displayed to the user on the user unit, for example through representations (colored markings, arrows, etc.) in the graphical representation of the 3D point cloud or text instructions, so that the user is informed accordingly and can react if necessary by either rejecting the display or the message (if he does not consider the area or areas to be particularly relevant) or by carrying out further measurements, i.e. a second scanning, with the scanning unit of one or more of these ROIs.
  • ROIs are recognized by the user, for which he marks them, for example, on a touch screen of the user unit in the graphical representation of the point cloud and, based on this user input, corresponding control commands for the second scanning of the Control and evaluation unit are generated.
  • the automatic or manual ROI detection is utilized fully automatically by an automatic second scanning of the ROIs, if necessary within the framework of the above Advanced surface measurement functionality, the surface measurement device is directed by the control and evaluation unit to a location from which the ROI is further scanned.
  • this fully automatic self-movement of the aircraft can be carried out completely without user guidance, that is, the guidance of the aircraft by the user (by means of the leash) is temporary, i.e. only for a limited time and only within the limited scope of the task of targeted second or additional measurement relevant surface areas, is abandoned and the automobile aircraft temporarily behaves or moves or positions autonomously.
  • the user lets go of the line, whereby the line can be rolled up by the aircraft. It would also be conceivable for the line to be released by the aircraft and for the aircraft to automatically move into a landing position after the measurement of the ROI(s) has been completed.
  • the surface measuring device has, in addition to the scanning unit, a further surface measuring unit, for example an infrared camera and/or thermal imaging camera.
  • a further surface measuring unit for example an infrared camera and/or thermal imaging camera.
  • different measurement tasks can be carried out in combination or different types of information can be obtained about the surface to be measured, so that, for example, within the scope of a surface measurement functionality developed in this way 3D point cloud generated based on the 3D coordinates of the scanning unit (or the 3D coordinates themselves) can be linked to measured values from the further surface measurement unit.
  • This provides the user with a further advantage in the form of additional information gain, for example in such a way that the graphical representation of the 3D point cloud contains additional information about the temperature of the displayed surface.
  • the aircraft has a reserve energy source, so that in the event of failure or unintentional disconnection of the primary energy source, which is connected, for example, via the line designed as a power cable, the measurement task can be terminated or at least stopped in a controlled manner.
  • the present invention furthermore relates to a method for determining a plurality of 3D coordinates of measuring points of a surface using a surface measuring device according to the invention, the method defining an optical scanning of the measuring points of the surface, in particular point-by-point, spatially displaceable, by means of optical, coherent and collimated measuring radiation Deflection direction, in particular laser radiation, includes. Furthermore, the method includes deriving distance values based on detected reflected measurement radiation and determining 3D coordinates based on the distance values and deflection directions.
  • a 3D point cloud is generated using at least part of the 3D coordinates during scanning.
  • the generated 3D point cloud is displayed graphically on a display, e.g User unit such as a tablet or smartphone.
  • a display e.g User unit such as a tablet or smartphone.
  • particularly relevant areas (regions of interest, ROI) of the 3D point cloud are automatically recognized, in particular a graphical representation of the particularly relevant area or areas on a display and/or an automatic second scanning of the particularly relevant area or areas relevant areas are carried out using the surface surveying device.
  • a further subject of the present invention is a computer program product that is stored on a machine-readable carrier, or computer data signal, embodied by an electromagnetic wave, with program code for carrying out the method according to the invention, in particular if the program is in a control and evaluation unit of a device according to the invention Surface measuring device and / or an external user unit connected to it is carried out.
  • a further object of the present invention is the use of an unmanned, hovering aircraft with a line which is intended for guiding the aircraft in the air by a user, the position of the aircraft in the air being predetermined by the effective length of the line the scanning unit of a surface measuring device according to the invention.
  • Figure 1a shows a user 100 scanning a surface of an object 10, in the example a house, with a stationary surface measuring device according to the prior art, in the example a terrestrial laser scanner 101, with a surface measuring functionality for 3D measuring object surfaces of an object 10 according to the prior art Technology.
  • Such 3D measurement creates a 3D point cloud that represents the surface 7 of the object 10.
  • the laser scanner 101 includes a scanning unit, designed as a scanning unit 104, which is mounted on a tripod 103 as a support and emits a laser beam 14 as optical measuring radiation, which is guided over the house surface 7 in a scanning manner by a deflection device with deflection around two axes, so that the measuring points 15 are scanned (for the sake of simplicity, only a part of just one of the many successive scanning lines is shown in the figure).
  • a laser scanner 101 according to the prior art makes it possible to record the 3D coordinates of millions of surface points 15 with high precision from the location 106 (the scanning unit) in a very short time based on detected reflected measurement radiation and the detected deflection direction of the emitted measurement radiation.
  • the disadvantage here is that due to the proximity of location 106 to the ground, a relatively large distance must be chosen between house 10 and scanner 101. At a smaller distance, the viewing or recording angles to surface points in the upper area of the house wall are often so unfavorable that the precision of the 3D point cloud suffers and/or a very uneven point grid is created, so that the 3D point cloud generated varies greatly Point density (scanning lines have a greater distance between the measuring points 15 in the area of the upper part than in the area of the lower part of the house wall).
  • a large distance from the object 10 is not always possible due to structural conditions, for example a narrow street, or, as shown in the example, it has the disadvantage that objects such as the tree 51 are located between the location 106 and the object 10, which produce a “scan shadow” 51a within which no points on the house wall can be detected.
  • the point cloud generated then includes 10 points on the surface of the disturbing object 51 instead of the desired surface points of the house.
  • the top of the object 10 cannot be measured from the location 106 close to the ground, i.e. the roof 11 in the example of house 10 cannot be scanned.
  • the house wall is not flat as shown, but has a wall projection or ledge 57, for example, then you can use it from the ground level Location 106 whose upper edge is also not measured or the ledge 57 creates another scanning shadow towards the top, which shades another part of the house surface 7.
  • Figure 1b shows another surface measuring device according to the prior art, designed as a mobile profiler 110.
  • the profiler 110 has a plumb rod 113, which acts as a carrier for a scanning unit 114.
  • the scanning unit 114 emits a laser beam 14, which can be deflected approximately vertically about an axis in the example, so that, among other things, a soil profile of measuring points 15 along a line of the soil can be detected as a surface 7 to be measured.
  • the laser beam 14 can be pivoted horizontally, so that horizontal profiles can be detected, or can be pivoted about an axis in another orientation.
  • the surveying device 110 has a camera module 118, which uses camera-based self-localization together with a GNSS antenna 119 and further position or acceleration sensors, not shown, for determining the 6-DOF of the pole 113 or the scanning unit 114 is used.
  • the scanning unit 114 is integrated in the housing of the module 114.
  • a controller unit 105 is connected by means of a cable 112, which serves, for example, to control the scanning process.
  • the disadvantage of such a thing Profiler 110 according to the state of the art is that compared to a device after Figure 1a There is an elevated scanning location 116, but this is still not sufficient for measuring tall objects or objects located high above the ground.
  • Another disadvantage for the creation of ground profiles is that the plumb rod 113 shades part of the ground as shown (if the laser beam 14 was completely vertically aligned, the GNSS antenna 119 would, conversely, shade upwards).
  • carrying around a long and top-heavy pole 113 is laborious for the user 100.
  • Fig. 2a shows a surface measuring device 1 according to the invention with a surface measuring functionality for 3D measuring surfaces 7 of an object 10.
  • the surface measuring device 1 has a scanning unit 4 for surface scanning by means of measuring radiation 14, ie for creating a 3D scan or 3D profile, which is carried out by a levitation device unmanned aircraft, in the example a gas-filled balloon 3a, is carried.
  • the balloon 3a is attached to a leash 2, which is held by the user 100.
  • the floating height of the balloon 3a is determined by the length of the line 2, with the line 2 being at least slightly tensioned (whereby the floating height of course also depends on the length of the user 100 and the arm position, and the gas filling of the balloon 3a is also balanced exactly in this way could be that the desired floating height is maintained by the balloon 3a without tension on the line 2).
  • a balloon 3a as a purely passive flying device offers the advantage of extremely simple and - apart from unfavorable environmental influences such as strong gusts of wind outdoors - very easy to control by the user 100.
  • the balloon 3a can be held by the user 100 at a desired height and by choosing its location 53 in the desired flat position, so that the scanning unit 4 can be positioned at a desired location 6.
  • the line 2 is therefore used to guide the balloon 3a by the user 100, with the length of the line 2 determining the height of the balloon 3a in the air (the balloon 3a rises as far as the length of the line 2 allows in the tensioned state). and by choosing the user location 53 its horizontal position, i.e. its overall positioning in the air, is predetermined.
  • the orientation of the aircraft 3a can also be specified by the user 100 using the line 2, for example by turning the line 2.
  • the measuring device 1 makes it very easy to change the scanning location 6 in the three translational and optionally also the three rotational degrees of freedom and thus the location 6 of the scanning unit 4 can be selected with much fewer restrictions than with devices according to the prior art. This allows, for example, obstructions to visibility to be avoided or areas that cannot otherwise be scanned, such as the upper edge of the wall ledge 57, to be detected. Using the measuring device 1 according to the invention, it is also possible to easily measure individual details of the object 10 to be measured separately and close to the location, especially those that are not close to the ground, for example decorations on the facade in a building 10.
  • the present invention also offers advantages, among other things, for small-scale terrain surveys or creation of small-scale terrain topographies or profiles, which cannot be carried out from a location on the ground and for which a measurement by plane would be too time-consuming.
  • the measuring device 1 according to the invention also offers advantages for indoor measurements, for example in buildings with very high ceilings such as factory halls or churches. For example, it is possible to scan the interior of a cathedral (particularly advantageous from a location 6 that is central not only in relation to the horizontal but also in relation to the vertical axis, i.e.
  • measuring device 1 in the three-dimensional center of the room) and, above all, surfaces of individual elements precisely and at least largely completely, even at heights that cannot be measured with prior art devices or can only be measured with great effort or whose measurement with a free-flying aircraft as the carrier of the measuring unit 4 would be too dangerous.
  • other very large or tall objects can also be simplified or improved or even measured using the measuring device 1 according to the invention, such as ship hulls, heavy machinery or rocket casings, for example as part of quality controls, condition checks or reverse engineering.
  • the user 100 can choose the height at which the balloon 3a floats so that the side of the house 10 can be scanned free of visual obstructions and with optimal recording angles.
  • the balloon 3a is positioned as shown by the user 100 using the line 2, for example between the house 10 and the tree 51, close to the tree 51 at approximately half the height of the house.
  • the house 10 is measured from a higher location 6 so that the house roof 11 can be scanned.
  • the balloon 3a can be positioned at the desired height.
  • the will continue Scanning unit 4 is guided around the house 10 by the user 100 in a movement 52a (of the user 100 himself or the movement 52b of the balloon 3a and the scanning unit 4 resulting from the line guide) by means of the line 2, in order to cover the entire object surface 7 measured.
  • the measuring device 1 has means for determining a position and orientation of the scanning unit 4 or the aircraft 3a.
  • the means are used for active determination, that is, the position and orientation of the scanning unit 4 are explicitly determined, the values of which are available as storable data, which are stored, for example, in a permanent memory of a user unit 5.
  • the course of the location 6 and the orientation of the scanning unit 4 are stored and are used, for example, to link the individual measuring points 15 and thus when generating the 3D point cloud.
  • the location 6 and the orientation change, for example, due to the aforementioned movements 52a and 52b, but also if the location 6 and/or the orientation of the scanning unit 4 does not change during a scanning process due to disturbing external influences (wind, unintentional movements of the user 100). is completely stable.
  • the means for determining the position and orientation have an inertial measurement unit (IMU) on the carrier side, ie on or on the balloon 3a, and a camera for continuous image recording (not shown), the images the camera is used for camera-based self-localization.
  • the means can have a GNSS antenna.
  • the control and evaluation unit is designed to: to continuously determine the position and orientation of the scanning unit 4 or the aircraft 3a by means of an algorithm based on the continuously measured values of the IMU (acceleration information) and the camera images or the self-localization (and/or possibly the GNSS signals).
  • the algorithm is preferably a state estimator based, for example, on a Kalman filter.
  • a SLAM algorithm Simultaneous localization and mapping
  • image evaluation takes place with regard to corresponding features or homologous image points in at least two images of a series of images from the camera.
  • a series of images means creating image data by continuously recording individual images or video frames (according to a specified temporal or spatial grid).
  • data from an IMU and possibly from a GNSS receiver are also used to determine the relative poses between images in the image series.
  • a refinement of the result can then optionally be achieved, for example through bundle adjustment.
  • the scanning unit 4 has an additional target camera with which the alignment or
  • Target direction of the scanning unit 4 can be set or checked live by means of image transmission through the cable 2 to the display of the user unit 5.
  • the scanning unit 4 and the user unit 5 have modules for wireless data transmission, for example WiFi or Bluetooth modules.
  • the control and evaluation unit is accommodated completely or partially in the scanning unit 4.
  • the line 2 is electrically conductive, i.e. designed as a cable that can transport electrical currents or signals and in the example is connected to the scanning unit 4.
  • the cable 2 is connected to the user unit 5, which has a control and evaluation unit as part of the measuring device 1, which is designed to carry out the surface measuring functionality.
  • the illustrated embodiment offers the advantage that control commands can be transmitted to the scanning unit 4 by the user 100 via the user unit 5, e.g. a portable computer or field computer.
  • data especially already recorded 3D point coordinates or their raw data, can be transmitted from the scanning unit 4 to the user unit 5. This data is stored in a data memory of the user unit 5.
  • control and evaluation unit is advantageously configured in such a way that the data is at least partially evaluated during the measurement ("on the fly"), so that the user 100, for example, is provided with at least a rough, preliminary or not yet complete 3D during the measurement process -Point cloud can be displayed on a display of the user unit 5. So that's it Measurement process can be monitored in real time by the user 100 and corrected if necessary.
  • an evaluation of the measurement result can be carried out on site and, for example, one or more additional scans, i.e. a second scanning, of particularly interesting areas (regions of interest ROI) of the surface 7 can be carried out. Examples of ROIs are unsampled areas or those with scanning gaps, e.g.
  • ROIs can optionally also be selected by the user 100 before or after the initial scanning based on a target camera image.
  • the target camera image and the 3D point cloud can also be displayed together on the display, for example overlaid.
  • Figure 2b shows an example of the resulting point cloud 16, which is generated based on the measured 3D coordinates.
  • the point cloud 16 represents the surface 7 of the house 10 and thus represents an image or a model of a part of the house 10, as can be shown to the user 100, for example on a display of the user unit 5. Thanks to the present invention, the surface 7, i.e. one side of the house 10, is advantageously completely captured without scanning shadows, so that the point cloud 16 generated also represents the entire surface 7.
  • the representation contains a marking of a particularly relevant area (ROI) 17, which has been automatically determined by the control and evaluation unit as part of an advanced surface measurement functionality or has been marked manually by the user in the point cloud graphic.
  • ROI particularly relevant area
  • the marking shows, for example, an area 17 which indicates a damaged area of the house wall, which was detected, for example, by an uneven surface or a distribution of the corresponding 3D points that deviates from the rest or the surroundings.
  • a second scanning of this ROI is then carried out with the surface measuring device 1, for example with an increased resolution compared to the previous scanning. The second scanning takes place in that the balloon 3a or the scanning unit 4 is positioned by the user 100 using the line 2 at the appropriate height and appropriate position.
  • such fine positioning can also be carried out automatically by the control and evaluation unit depending on the recognized ROI 17, so that the aircraft 3b, 3c automatically moves to the appropriate position within the scope of the predetermined positioning
  • the recording location goes or the scanning unit 4 is automatically aligned with the ROI 17.
  • the position specification by the line is completely abandoned, so that the aircraft 3b, 3c is temporarily freely movable. This would offer advantages in particular if the second scanning or further detailed scanning of an ROI 17 were not possible with a position specification by the line 2 because a suitable or rather necessary scanning location 6 cannot be taken when connected to the line 2.
  • Figure 3 shows a further embodiment of a measuring device 1 according to the invention with a surface measuring functionality.
  • the unmanned hovering aircraft is designed as a zeppelin 3b, so it has drive means 13 (motor gondola) that enable independent movement, at least in a horizontal direction.
  • the radius of movement or range of motion is limited by the line 2, so that the position or movement of the airship 3b or the location 6 of the scanning unit 4 is essentially specified by the user 100 using the line 2.
  • the direction of flight 56 of the zeppelin 3b is controlled remotely by the user 100 using the user unit 5, with the control signals being passed to the zeppelin 3b via the line 2 designed as a power or signal cable.
  • control is carried out, for example, by means of control elements (control levers, buttons, etc.), which the control unit 5 has, or by movements (tilting, turning, sideways movements, etc.) of the control unit 5 itself.
  • control is also carried out by movements of the Control unit 5 or, according to the invention, simply the hand of the user 100, which are recognized by means of a camera of the aircraft 3b, so that the line 2 does not have to be used to transmit control signals.
  • a camera is attached to the leash 2 for recording movements of the operating unit 5 or the user 100 (or gestures of the user 100).
  • the movement of the Zeppelins 3b (which is only possible to a limited extent due to the line 2) takes place (semi-)autonomously in accordance with a flight routine previously defined by the user 100 or in the control and evaluation unit (e.g. driving a circle or a 90 ° rotation). and/or based on Control signals that are output by sensors (especially distance sensors) of the Zeppelin 3b.
  • an aircraft with its own drive and/or control means improves or simplifies the choice of the survey location 6 of the survey unit 4, for example by not only selecting several similar or close-to-each-other locations 6 from a single location 53 of the user 100 vertical direction are possible (by changing the length of the line 2), but also several locations 6 in the horizontal direction due to the movement of the zeppelin 3b. Controlling the aircraft 3b is still comparatively easy for the user 100.
  • survey locations 6 are possible that cannot be reached with a purely passive aircraft such as a balloon.
  • the house 10 has structures 55 on the roof, through which the front area of the roof 11 is shaded when viewed from a position 6 in front of the house, so that a "scan shadow" is present when a balloon is used as a carrier unit.
  • the airship 3b it is possible to move the measurement location 6 a little further into the roof area in the direction of flight 56, so that the roof area, which is directly behind the structure 55 as seen from the user or from the front, can also be measured (arrow 14).
  • the drive or active control elements of the Zeppelin 3b also enable improved stability of the spatial position, so that unintentional and disruptive changes to the location 6 can be reduced or prevented.
  • the means for determining a position and orientation of the scanning unit 4 preferably enable a continuous passive determination, ie it For example, deviations or changes in position and orientation are measured and control signals are output to the drive or control elements based on these measured values, so that the deviations are compensated for and flight stabilization is achieved.
  • permanent storage or storage of the position or orientation values is not necessary, so that the values can be dropped or overwritten immediately after use.
  • Figure 4a shows a side view of a surface measuring device 1 according to the invention for 3D measuring of object surfaces 7, in which the aircraft is designed as a hovering drone or copter 3c with at least two, preferably four, rotors 25, which enable a flying and hovering movement of the aircraft 3c.
  • the aircraft is designed as a hovering drone or copter 3c with at least two, preferably four, rotors 25, which enable a flying and hovering movement of the aircraft 3c.
  • a possible alternative to a Copter 3c is an unmanned miniature helicopter.
  • the copter 3c is attached to the leash 2 and is guided over it by the user 100.
  • Such an aircraft 3c is compared to a zeppelin or even a balloon according to the embodiments of Figures 2a or 3 depending on the embodiment, there may be higher requirements for control or guidance by the user 100, which, however, can be reduced as an option through (semi-)autonomous flight capabilities or control of the copter 3c and in comparison to a completely free-flying, untethered one Carriers are still significantly lower.
  • the drive is set so that the line 2 is at least slightly tensioned or, in other words, the copter 3c would rise higher without the user holding the line 2.
  • a safety mechanism can be provided that detects an (unintentional) release of the line 2 and initiates a lowering of the copter 3c.
  • the drive or the control elements are used for a movement of the copter 3c, which does not result directly from the guidance by the line 2, i.e. for a change in the micro or fine position within the framework of the macro or coarse position specified by the line 2. Control commands for executing such a self-movement can be given by the user Figure 3 describe are output.
  • connection of the line 2 to the copter 3c is optionally designed as a control module, so that, for example, control commands can be carried out simply by movements or changes in the state of the line 2, for example by a jerky pull of the line 2 in a horizontal direction causing a movement of the aircraft that same direction commands.
  • the change in state of the line 2 can be detected, for example, by a force sensor or optically by the control module.
  • a command can be given to the aircraft 3c or the scanning unit 4 by, for example, changing the tension or pulling direction of the line 2.
  • a further advantage over an unbound measuring device 1 is that the aircraft 3c is easier to configure and therefore more cost-effective to produce due to the lower requirements compared to completely free flight capability.
  • a drone or copter 3c offers less than a zeppelin Figure 3 the advantage of an even further increased active movement of the aircraft 3c and thus a further improved adaptation of the survey location 6 within the framework of the position specified by the line 2. This means that even very angled, irregular or heavily structured objects can be completely measured with comparatively little effort.
  • a scanning unit 4 can be positioned relative to the rotor blades 21 and thus these can be measured from an optimal location 6, for which purpose the scanning unit 4 is advantageously designed for scanning by deflecting the measuring beam around two axes.
  • the scanning unit 4 can be moved along the respective rotor blade 21, so that, for example, a large number of highly detailed individual scans or highly precise individual 3D point clouds are possible, with the individual point clouds being processed in post-processing or by the control and evaluation unit of the measuring device 1 Location can be linked to form an entire 3D point cloud.
  • control and evaluation unit has different measurement modes for different surfaces 7 or objects 20, for example a mode for Measurement of wind turbines 20 and a mode for measuring houses 10, whereby depending on the mode the scanning unit 4 and/or the aircraft 3c are operated differently, for example with regard to the scanning pattern of the deflector device of the scanning unit 4 or the proper movement of the copter 3c.
  • the measuring device 1 has, in addition to the measuring beam-based scanning unit 4, a further measuring unit 4a.
  • a further measuring unit 4a is, for example, another, identical scanning or profiler unit, so that several objects 20 or different surfaces 7 of an object can be measured in 3D from one location 6, in particular at the same time, without changing the position or rotation of the copter 3c.
  • the further measuring unit 4a is a different type of measuring measuring unit, so that a single measuring device 1 is designed for different measuring tasks.
  • This further measuring unit 4a preferably also measures without contact and is designed, for example, as an infrared camera or thermal imaging camera, but it can also be a tactile measuring unit, which, for example, determines the conductivity of the surface. This also makes it possible to link 3D coordinates of a surface, i.e. the coordinative surface information obtained with the scanning unit 4, with surface information of a different type about the same surface, which was measured by the further measuring unit 4a.
  • the line 2 is advantageously designed as a power cable, which (alternatively or in addition to a previously described data or control signal transmission) is designed to supply energy to the copter 3c and is connected to an energy source, in Example a battery 8, connected to the ground.
  • the battery 8 is carried on the back by the user 100.
  • the "outsourcing" of the energy supply from the copter 3c advantageously enables the weight of the copter 3c to be significantly reduced, so that its energy requirements are significantly reduced.
  • the battery 8 and thus its capacity can be chosen to be much larger (or a cheaper battery 8 of the same capacity can be used, the components of which do not have to be selected for the lowest possible weight and / or volume).
  • a significantly longer maximum flight time of the copter 3c and thus a longer period of use of the surveying device 1 can be achieved than in embodiments with on-board batteries or as in tethered and therefore wireless surveying devices (with free-flight devices) according to the prior art.
  • Figure 4b shows the use of a surface measuring device 1 according to the invention with a copter 3c as a carrier for measuring an interior 30.
  • the effective length of the line 2, which in turn serves as a power cable for connecting a battery 8 to the copter 3c, is correspondingly shorter in such a case of use than in example Figure 4a .
  • the surface measuring device 1 is designed as a profiler, with the scanning unit 4 being arranged in the copter 3c in such a way that the laser beam is around one horizontal axis is deflected.
  • the room 30 can thus be scanned in its complete cross-section and by the user 100 walking through the room, i.e.
  • a 3D point cloud can be generated which represents the entire room 30 and, for example, directly to the user 100 on the User unit 5 is displayed.
  • the copter 3c's own movement is used, for example a, preferably complete, rotation around the z-axis or vertical, or a translation in the xy or horizontal plane, whereby, for example, the movement of the space 30 can be reduced or completely unnecessary , for which purpose the scanning unit 4 can alternatively be designed as a scanning unit and thus the measuring device can be designed as a scanner 4, i.e. the measuring beam 14 can be pivoted or deflected about two axes.

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Claims (13)

  1. Appareil de mesure de surface (1), en particulier profileur ou scanner 3D, pour la détermination d'une pluralité de coordonnées 3D de points de mesure (15) d'une surface (7), comprenant
    • une unité de balayage (4) pour le balayage optique de la surface (7), l'unité de balayage (4) présentant
    o une unité d'émission pour l'émission d'un rayonnement de mesure optique cohérent et collimaté (14), en particulier d'un rayonnement laser,
    o un dispositif de déviation pour le guidage en balayage du rayonnement de mesure (14) sur la surface (7) dans au moins une direction de déviation,
    o des moyens pour acquérir la direction de déviation relative respective, et
    o un détecteur pour détecter le rayonnement de mesure (14) réfléchi par un point de mesure respectif (15),
    • des moyens pour déterminer une position et une orientation de l'unité de balayage (4),
    • un support pour porter l'unité de balayage (4) et au moins une partie des moyens pour déterminer une position et une orientation,
    • une unité de commande et d'évaluation avec une fonctionnalité de mesure de surface pour commander l'unité de balayage (4) et pour déterminer les coordonnées 3D des points de mesure (15) à l'aide de la direction de déviation respective et d'une valeur de distance dérivée au moyen du rayonnement de mesure détecté (14),
    dans lequel le support est réalisé sous la forme d'un engin volant sans pilote (3a-3c) capable de vol stationnaire, comportant un filin (2) qui est relié à l'une de ses extrémités à l'engin volant (3a-3c) et qui peut être tenu à l'autre extrémité par un utilisateur (100), dans lequel
    • le filin (2) est prévu pour le guidage de l'engin volant (3a-3c) dans l'air par l'utilisateur (100) et
    • le positionnement de l'engin volant (3a-3c) dans l'air est prescrit par la longueur effective du filin (2), modifiable en particulier par l'utilisateur (100), et
    • le filin (2) est électriquement conducteur et sert à
    o l'alimentation en énergie et/ou
    o la transmission de signaux de commande et/ou de données vers et/ou depuis des parties de l'appareil de mesure de surface (1) se trouvant dans l'air, en particulier de l'engin volant (3a-3c) et/ou de l'unité de balayage (4),
    caractérisé en ce que
    l'unité de commande et d'évaluation présente une fonctionnalité de commande par gestes, de sorte qu'à l'aide d'images de mouvement enregistrées de mouvements de la main de l'utilisateur (100), des instructions de commande sont transmises à l'engin volant (3b, 3c) et à l'unité de balayage (4), en particulier dans lequel le support présente une caméra pour enregistrer les images de mouvement.
  2. Appareil de mesure de surface (1) selon la revendication 1,
    caractérisé en ce que
    les moyens pour déterminer la position et l'orientation sont conçus pour
    • déterminer activement la position et l'orientation pour obtenir des valeurs de position et d'orientation sous la forme de données mémorisables et/ou
    • déterminer passivement en continu la position et l'orientation pour la stabilisation en vol de l'engin volant (3a-3c).
  3. Appareil de mesure de surface (1) selon l'une des revendications précédentes,
    caractérisé en ce que
    les moyens pour déterminer la position et l'orientation présentent, du côté du support,
    • des capteurs pour mesurer en continu une accélération et/ou une vitesse de rotation et/ou une orientation magnétique, en particulier une unité de mesure inertielle (IMU), et
    • au moins une caméra pour enregistrer en continu une série d'images dans le cadre d'une autolocalisation basée sur caméra et/ou
    • des récepteurs pour recevoir en continu des signaux de référence de position, en particulier des signaux GNSS et/ou des signaux de pseudolites,
    et l'unité de commande et d'évaluation est conçue pour exécuter un algorithme, en particulier un algorithme d'estimation d'état, basé en particulier sur un filtre de Kalman, pour calculer en continu, en particulier en temps réel, la position et l'orientation à l'aide des données déterminées en continu des capteurs et de la caméra et/ou des récepteurs.
  4. Appareil de mesure de surface (1) selon la revendication 3,
    caractérisé en ce que,
    en cas de présence d'une caméra pour l'enregistrement d'images en continu dans le cadre de l'autolocalisation basée sur caméra, l'algorithme est conçu, en particulier en présentant des algorithmes Structure-from-Motion (SfM) ou SLAM, pour déterminer la position et l'orientation d'images de la série d'images sur la base d'un relèvement à l'aide de points de surface qui sont acquis dans au moins deux images de la série d'images, en particulier dans lequel les points de surface pour le relèvement sont sélectionnés au moyen d'algorithmes d'extraction de caractéristiques et/ou d'algorithmes de suivi.
  5. Appareil de mesure de surface (1) selon l'une des revendications précédentes,
    caractérisé en ce que
    • l'appareil de mesure de surface (1), en particulier le filin (2), présente une interface filaire ou sans fil pour le raccordement d'une unité d'utilisateur externe (5), en particulier d'un smartphone ou d'une tablette, et/ou
    • au moyen du filin (2), l'orientation de l'engin volant (3a-3c) peut également être prescrite par l'utilisateur (100).
  6. Appareil de mesure de surface (1) selon l'une des revendications précédentes,
    caractérisé en ce que
    des données brutes et/ou des coordonnées 3D de points de mesure (15) mesurés peuvent être transmises à une unité d'utilisateur (5), en particulier au moyen d'une transmission de signaux de données par le filin (2), en particulier de telle sorte qu'un nuage de points 3D (16) puisse être généré et représenté graphiquement sur l'unité d'utilisateur (5) pendant une mesure de surface sur la base des coordonnées 3D.
  7. Appareil de mesure de surface (1) selon l'une des revendications 1 à 6, caractérisé en ce que
    l'engin volant (3b, 3c) présente au moins un moyen d'entraînement et/ou un moyen de commande (13, 25) pour l'adaptation active de la position et/ou de l'orientation prescrites par la longueur effective du filin (2), en particulier pour l'orientation optimisée de l'unité de balayage (4) sur la surface à mesurer (7), en particulier dans lequel l'engin volant (3b, 3c) est réalisé sous la forme d'un dirigeable (3b) ou d'un drone (3c).
  8. Appareil de mesure de surface (1) selon la revendication 7,
    caractérisé en ce que
    l'adaptation active de la position et/ou de l'orientation s'effectue à l'aide
    • d'instructions de commande de l'utilisateur (100), en particulier dans lequel les instructions de commande sont transmises au moyen d'une unité d'utilisateur (5), en particulier d'un smartphone ou d'une tablette et/ou par multi-touch et/ou par mouvement de l'unité d'utilisateur (5), et/ou
    • de routines programmées dans l'unité de commande et d'évaluation pour le mouvement propre semi-autonome de l'engin volant (3b, 3c) et/ou
    • d'instructions de commande de l'unité de commande et d'évaluation qui sont basées sur des valeurs de mesure actuelles, en particulier des valeurs d'accélération et/ou de distance, de capteurs de l'engin volant (3b, 3c).
  9. Appareil de mesure de surface (1) selon l'une des revendications précédentes,
    caractérisé en ce que
    • la liaison du filin (2) avec l'engin volant (3b, 3c) est réalisée sous la forme d'un module de commande, de sorte que par une modification contrôlée par l'utilisateur (100) d'un état du filin (2), en particulier de l'effort de traction appliqué et/ou de la direction de traction, une instruction de commande est transmise par l'utilisateur (100) à l'engin volant (3b, 3c), en particulier pour la modification active de la position et/ou de l'orientation, et/ou à l'unité de balayage (4), en particulier pour le démarrage et/ou l'arrêt d'une opération de balayage, et/ou
    • l'appareil de mesure de surface (1) présente, outre l'unité de balayage (4), une autre unité de mesure de surface (4a), en particulier une caméra infrarouge et/ou une caméra thermique, en particulier dans lequel une combinaison de coordonnées 3D, en particulier du nuage de points 3D généré à partir de celles-ci, avec des données de mesure de l'autre unité de mesure de surface (4a) est effectuée dans le cadre de la fonctionnalité de mesure de surface, et/ou
    • l'engin volant (3b, 3c) présente une source d'énergie de réserve.
  10. Procédé de détermination d'une pluralité de coordonnées 3D de points de mesure (15) d'une surface (7) avec un appareil de mesure de surface (1) selon la revendication 1, comprenant
    • un balayage optique, en particulier point par point, déplaçable dans l'espace, des points de mesure (15) de la surface (7) au moyen d'un rayonnement de mesure optique, cohérent et collimaté (15) de direction de déviation définie, en particulier d'un rayonnement laser,
    • dérivation de valeurs de distance à l'aide du rayonnement de mesure réfléchi détecté (15),
    • détermination de coordonnées 3D à l'aide des valeurs de distance et des directions de déviation.
  11. Procédé selon la revendication 10,
    caractérisé en ce que,
    pendant le balayage, un nuage de points 3D (16) est généré à l'aide d'au moins une partie des coordonnées 3D en particulier dans lequel
    • une représentation graphique du nuage de points 3D (16) est fournie sur un écran et/ou
    • une reconnaissance automatique de zones particulièrement pertinentes (regions of interest, ROI) (17) du nuage de points 3D (16) est effectuée, dans lequel, en particulier,
    o une représentation graphique de la ou des zones particulièrement pertinentes (17) est effectuée sur un écran et/ou
    o un deuxième balayage automatique de la ou des zones particulièrement pertinentes (17) est effectué avec l'appareil de mesure de surface (1).
  12. Utilisation d'un engin volant sans pilote (3a-3c) capable de vol stationnaire, comportant un filin (2) qui est prévu pour le guidage de l'engin volant (3a-3c) dans l'air par un utilisateur (100), la position de l'engin volant (3a-3c) dans l'air étant prescrite par la longueur effective du filin (2), pour porter l'unité de balayage (4) d'un appareil de mesure de surface selon la revendication 1.
  13. Produit programme d'ordinateur stocké sur un support lisible par ordinateur, ou signal de données d'ordinateur matérialisé par une onde électromagnétique, comprenant un code de programme pour la mise en oeuvre du procédé selon l'une des revendications 10 et 11 lorsque le programme est exécuté dans une unité de commande et d'évaluation d'un appareil de mesure de surface (1) selon la revendication 1 et/ou d'une unité d'utilisateur externe (5) qui y est raccordée.
EP15192815.7A 2015-11-03 2015-11-03 Appareil de mesure de surface destiné à déterminer des coordonnées 3d d'une surface Active EP3165945B1 (fr)

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EP15192815.7A EP3165945B1 (fr) 2015-11-03 2015-11-03 Appareil de mesure de surface destiné à déterminer des coordonnées 3d d'une surface
CN201610952499.5A CN106979773B (zh) 2015-11-03 2016-11-02 表面测绘设备、3d坐标确定方法、计算机可读存储介质
US15/342,108 US10520310B2 (en) 2015-11-03 2016-11-02 Surface surveying device for determining 3D coordinates of a surface

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US20170122736A1 (en) 2017-05-04
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EP3165945A1 (fr) 2017-05-10

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